{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T23:13:09Z","timestamp":1772147589965,"version":"3.50.1"},"reference-count":41,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2021,11,20]],"date-time":"2021-11-20T00:00:00Z","timestamp":1637366400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e Tecnologia","doi-asserted-by":"publisher","award":["SFRH\/BD\/138302\/2018"],"award-info":[{"award-number":["SFRH\/BD\/138302\/2018"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Fraunhofer Portugal Research","award":["CT2021"],"award-info":[{"award-number":["CT2021"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This article presents an approach to autonomous flight planning of Unmanned Aerial Vehicles (UAVs)-Drones as data collectors to the Internet of Things (IoT). We have proposed a model for only one aircraft, as well as for multiple ones. A clustering technique that extends the scope of the number of IoT devices (e.g., sensors) visited by UAVs is also addressed. The flight plan generated from the model focuses on preventing breakdowns due to a lack of battery charge to maximize the number of nodes visited. In addition to the drone autonomous flight planning, a data storage limitation aspect is also considered. We have presented the energy consumption of drones based on the aerodynamic characteristics of the type of aircraft. Simulations show the algorithm\u2019s behavior in generating routes, and the model is evaluated using a reliability metric.<\/jats:p>","DOI":"10.3390\/s21227735","type":"journal-article","created":{"date-parts":[[2021,11,21]],"date-time":"2021-11-21T21:00:50Z","timestamp":1637528450000},"page":"7735","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Flight Planning Optimization of Multiple UAVs for Internet of Things"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7100-301X","authenticated-orcid":false,"given":"Lucas","family":"Rodrigues","sequence":"first","affiliation":[{"name":"Institute of Informatics (INF), Universidade Federal de Goi\u00e1s (UFG), Goi\u00e2nia 74690-900, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6594-8893","authenticated-orcid":false,"given":"Andr\u00e9","family":"Riker","sequence":"additional","affiliation":[{"name":"Institute of Exact and Natural Sciences (ICEN), Federal University of Par\u00e1, Bel\u00e9m 66075-110, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4337-1920","authenticated-orcid":false,"given":"Maria","family":"Ribeiro","sequence":"additional","affiliation":[{"name":"Institute for Systems and Computer Engineering, Technology and Science (INESC-TEC), 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9776-4888","authenticated-orcid":false,"given":"Cristiano","family":"Both","sequence":"additional","affiliation":[{"name":"Applied Computing Graduate Program, University of Vale do Rio dos Sinos (UNISINOS), S\u00e3o Leopoldo 93022-750, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8278-9062","authenticated-orcid":false,"given":"Filipe","family":"Sousa","sequence":"additional","affiliation":[{"name":"Fraunhofer Portugal AICOS, 4200-135 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4310-2379","authenticated-orcid":false,"given":"Waldir","family":"Moreira","sequence":"additional","affiliation":[{"name":"Fraunhofer Portugal AICOS, 4200-135 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5152-5323","authenticated-orcid":false,"given":"Kleber","family":"Cardoso","sequence":"additional","affiliation":[{"name":"Institute of Informatics (INF), Universidade Federal de Goi\u00e1s (UFG), Goi\u00e2nia 74690-900, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3595-3525","authenticated-orcid":false,"given":"Antonio","family":"Oliveira-Jr","sequence":"additional","affiliation":[{"name":"Institute of Informatics (INF), Universidade Federal de Goi\u00e1s (UFG), Goi\u00e2nia 74690-900, Brazil"},{"name":"Fraunhofer Portugal AICOS, 4200-135 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2109","DOI":"10.1109\/TWC.2017.2789293","article-title":"Joint Trajectory and Communication Design for Multi-UAV Enabled Wireless Networks","volume":"17","author":"Wu","year":"2018","journal-title":"IEEE Trans. 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